Multi-target localization and circumnavigation control by a group of moving agents

摘要

This paper investigates the multi-target localization and circumnavigation problem of a group of autonomous agents, where each agent only has bearing measurements of its single target. An estimator is designed for each agent to estimate the position of the corresponding target; then a distributed estimation algorithm is designed for each agent to cooperatively estimate the center of multi-targets; based on the first two steps, a circumnavigation controller is devised for each agent to guarantee that each agent circumnavigates all targets around the target center with a desired radius. The convergence of the estimation algorithm and the stability of the circumnavigation controller are proved. Finally, several simulation examples are provided to verify the correctness of the conclusion and the effectiveness of the proposed algorithm.